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robotika / osgar

Open Source Garden (Autonomous) Robot
MIT License
13 stars 12 forks source link

gps: publish nmea message #998

Closed tajgr closed 3 months ago

tajgr commented 3 months ago

This PR is a partial refactoring of the gps driver. The driver is now publishing nmea_data stream in addition to position and rel_position. The driver first gets data from nmea sentence and then calculate old position in ms. There is also corresponding modification of gps unit tests.

The code is tested on two logs with different gps receivers for now. In this moment I would like to continue in testing because the reliability of this driver is very important.

tajgr commented 3 months ago

I performed some additional tests. It could be ready to merge from my site.

tajgr commented 3 months ago

I see except Exception - does it have to be so strong? Maybe ValueError would be sufficient?

You are right. The exception shouldn't be so wide. I wonder if there was a reason for this exception in the past (old parser). Probably not. Thanks.